Reabilitação de um imóvel industrial em Marvila: projeto de investimento

Trabalho de Projeto para obtenção do grau de Mestre em Engenharia Civil

Estudo da eficiência da ETAR da zona industrial da AutoEuropa por análise biológica

No tratamento de águas residuais por lamas activadas, existem diferentes populações de protozoários e metazoários que se podem desenvolver durante o processo. A sua presença é fundamental para o bom desempenho da ETAR. Além de reduzirem a turvação do efluente final, estimulam o crescimento bacteriano, promovem a floculação e algumas espécies reduzem a poluição. É possível estabelecer uma estreita relação entre a predominância de determinadas espécies ou grupos de espécies, com parâmetros operacionais da ETAR, tais como os índices bióticos. Este procedimento requer a identificação e enumeração das diferentes espécies. No entanto, existem outros métodos, que apresentam relações entre a abundância de uma dada espécie ou grupo e os parâmetros da estação. O presente trabalho tem como objectivos: avaliar o funcionamento do sistema de tratamento de lamas activadas através da observação microscópica de protozoários e metazoários, identificação e contagem das espécies relevantes; estabelecer relações entre os organismos que contribuem para o processo de depuração de águas residuais e as condições de operação, como parâmetros físicoquímicos ou o desempenho da ETAR; e produzir uma ferramenta de apoio à gestão da ETAR, baseada em princípios biológicos. Pretende-se, ainda, contribuir e incentivar para a adopção de metodologias semelhantes em outros sistemas de lamas activadas em funcionamento no nosso País. Em termos metodológicos, a colheita de amostras foi realizada semanalmente na ETAR da ZIA durante dois meses e meio. Os parâmetros operacionais e físico-químicos foram obtidos junto da ETAR. A análise biológica foi efectuada por microscopia óptica. Avaliou-se qualitativa e quantitativamente a microfauna presente no tanque de arejamento, no poço de mistura de lamas e no clarificado de ambos os decantadores, a fim de se verificar as possíveis correlações desses parâmetros com a eficiência do sistema. Aplicou-se os resultados biológicos obtidos, em quatro modelos propostos para a avaliação do processo de tratamento, baseada em análises biológicas. Em termos qualitativos e na maior parte das observações, a lama apresentou boa qualidade. A ETAR da ZIA foi colonizada por tecamebas, principalmente Arcella sp. e Euglypha alveolata, em todo, o estudo e em todos os pontos analisados. No tanque de arejamento foram sempre observados ciliados nadadores livres. A densidade total de organismos no tanque de arejamento variou de 2982 e 7330 organismos/mL, com valor médio de 5995 organismos/mL. Relativamente, aos parâmetros estudados, os objectivos de remoção para o CBO5, CQO, SST e SSV foram alcançados.

A multi-objective approach for the motion planning of redundant manipulators

Kinematic redundancy occurs when a manipulator possesses more degrees of freedom than those required to execute a given task. Several kinematic techniques for redundant manipulators control the gripper through the pseudo-inverse of the Jacobian, but lead to a kind of chaotic inner motion with unpredictable arm configurations. Such algorithms are not easy to adapt to optimization schemes and, moreover, often there are multiple optimization objectives that can conflict between them. Unlike single optimization, where one attempts to find the best solution, in multi-objective optimization there is no single solution that is optimum with respect to all indices. Therefore, trajectory planning of redundant robots remains an important area of research and more efficient optimization algorithms are needed. This paper presents a new technique to solve the inverse kinematics of redundant manipulators, using a multi-objective genetic algorithm. This scheme combines the closed-loop pseudo-inverse method with a multi-objective genetic algorithm to control the joint positions. Simulations for manipulators with three or four rotational joints, considering the optimization of two objectives in a workspace without and with obstacles are developed. The results reveal that it is possible to choose several solutions from the Pareto optimal front according to the importance of each individual objective.

Gestão de um projecto de uma torre de arrefecimento industrial: estudo de caso

Trabalho Final de Mestrado para obtenção do grau de Mestre em Engenharia Mecânica

Redução de ruído ambiental em área de produção industrial

Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para obtenção do grau de Mestre em: Instrumentação Manutenção Industrial e Qualidade

A fractional approach for the motion planning of redundant and hyper-redundant manipulators

The trajectory planning of redundant robots through the pseudoinverse control leads to undesirable drift in the joint space. This paper presents a new technique to solve the inverse kinematics problem of redundant manipulators, which uses a fractional differential of order α to control the joint positions. Two performance measures are defined to examine the strength and weakness of the proposed method. The positional error index measures the precision of the manipulator's end-effector at the target position. The repeatability performance index is adopted to evaluate if the joint positions are repetitive when the manipulator execute repetitive trajectories in the operational workspace. Redundant and hyper-redundant planar manipulators reveal that it is possible to choose in a large range of possible values of α in order to get repetitive trajectories in the joint space.

Experimental backlash study in mechanical manipulators

The behavior of mechanical manipulators with backlash is analyzed. In order to acquire and study the signals an experimental setup is implemented. The signal processing capabilities of the wavelets are used for de-noising the experimental signals and the energy of the obtained components is analyzed. To evaluate the backlash effect upon the robotic system, it is proposed an index based on the pseudo phase plane representation. Several tests are developed that demonstrate the coherence of the results.

A sensor classification strategy for robotic manipulators

In practice the robotic manipulators present some degree of unwanted vibrations. The advent of lightweight arm manipulators, mainly in the aerospace industry, where weight is an important issue, leads to the problem of intense vibrations. On the other hand, robots interacting with the environment often generate impacts that propagate through the mechanical structure and produce also vibrations. In order to analyze these phenomena a robot signal acquisition system was developed. The manipulator motion produces vibrations, either from the structural modes or from endeffector impacts. The instrumentation system acquires signals from several sensors that capture the joint positions, mass accelerations, forces and moments, and electrical currents in the motors. Afterwards, an analysis package, running off-line, reads the data recorded by the acquisition system and extracts the signal characteristics. Due to the multiplicity of sensors, the data obtained can be redundant because the same type of information may be seen by two or more sensors. Because of the price of the sensors, this aspect can be considered in order to reduce the cost of the system. On the other hand, the placement of the sensors is an important issue in order to obtain the suitable signals of the vibration phenomenon. Moreover, the study of these issues can help in the design optimization of the acquisition system. In this line of thought a sensor classification scheme is presented. Several authors have addressed the subject of the sensor classification scheme. White (White, 1987) presents a flexible and comprehensive categorizing scheme that is useful for describing and comparing sensors. The author organizes the sensors according to several aspects: measurands, technological aspects, detection means, conversion phenomena, sensor materials and fields of application. Michahelles and Schiele (Michahelles & Schiele, 2003) systematize the use of sensor technology. They identified several dimensions of sensing that represent the sensing goals for physical interaction. A conceptual framework is introduced that allows categorizing existing sensors and evaluates their utility in various applications. This framework not only guides application designers for choosing meaningful sensor subsets, but also can inspire new systems and leads to the evaluation of existing applications. Today’s technology offers a wide variety of sensors. In order to use all the data from the diversity of sensors a framework of integration is needed. Sensor fusion, fuzzy logic, and neural networks are often mentioned when dealing with problem of combing information from several sensors to get a more general picture of a given situation. The study of data fusion has been receiving considerable attention (Esteban et al., 2005; Luo & Kay, 1990). A survey of the state of the art in sensor fusion for robotics can be found in (Hackett & Shah, 1990). Henderson and Shilcrat (Henderson & Shilcrat, 1984) introduced the concept of logic sensor that defines an abstract specification of the sensors to integrate in a multisensor system. The recent developments of micro electro mechanical sensors (MEMS) with unwired communication capabilities allow a sensor network with interesting capacity. This technology was applied in several applications (Arampatzis & Manesis, 2005), including robotics. Cheekiralla and Engels (Cheekiralla & Engels, 2005) propose a classification of the unwired sensor networks according to its functionalities and properties. This paper presents a development of a sensor classification scheme based on the frequency spectrum of the signals and on a statistical metrics. Bearing these ideas in mind, this paper is organized as follows. Section 2 describes briefly the robotic system enhanced with the instrumentation setup. Section 3 presents the experimental results. Finally, section 4 draws the main conclusions and points out future work.

Two cooperating manipulators with fractional controllers

This paper analyzes the dynamic performance of two cooperative robot manipulators. It is studied the implementation of fractional-order algorithms in the position/force control of two cooperating robotic manipulators holding an object. The simulations reveal that fractional algorithms lead to performances superior to classical integer-order controllers.

An internet remote laboratory to teach industrial automation

This paper presents the new internet remote laboratory (IRL), constructed at Mechanical Engineering Department (MED), Instituto Superior de Engenharia de Lisboa (ISEL), to teach Industrial Automation, namely electropneumatic cycles. The aim of this work was the development and implementation of a remote laboratory that was simple and effective from the user point of view, allowing access to all its functionalities through a web browser without having to install any other program and giving access to all the features that the students can find at the physical laboratory. With this goal in mind, it has been implemented a simple architecture with the new programmable logic controller (PLC) SIEMENS S7-1200, and with the aid of several free programs, programming technologies such as JavaScript, PHP and databases, it was possible to have a remote laboratory, with a simple interface, to teach industrial automation students.

A sensor classification strategy for robotic manipulators using multidimensional scaling technique

This paper analyzes the signals captured during impacts and vibrations of a mechanical manipulator. To test the impacts, a flexible beam is clamped to the end-effector of a manipulator that is programmed in a way such that the rod moves against a rigid surface. Eighteen signals are captured and theirs correlation are calculated. A sensor classification scheme based on the multidimensional scaling technique is presented.

An evolutionary approach for the motion planning of redundant and hyper-redundant manipulators

The trajectory planning of redundant robots is an important area of research and efficient optimization algorithms are needed. The pseudoinverse control is not repeatable, causing drift in joint space which is undesirable for physical control. This paper presents a new technique that combines the closed-loop pseudoinverse method with genetic algorithms, leading to an optimization criterion for repeatable control of redundant manipulators, and avoiding the joint angle drift problem. Computer simulations performed based on redundant and hyper-redundant planar manipulators show that, when the end-effector traces a closed path in the workspace, the robot returns to its initial configuration. The solution is repeatable for a workspace with and without obstacles in the sense that, after executing several cycles, the initial and final states of the manipulator are very close.

Robotic manipulators with vibrations: short time fourier transform of fractional spectra

This paper analyzes the signals captured during impacts and vibrations of a mechanical manipulator. In order to acquire and study the signals an experimental setup is implemented. The signals are treated through signal processing tools such as the fast Fourier transform and the short time Fourier transform. The results show that the Fourier spectrum of several signals presents a non integer behavior. The experimental study provides valuable results that can assist in the design of a control system to deal with the unwanted effects of vibrations.

Manutenção industrial e custo do ciclo de vida - extracção oleaginosas

Dissertação apresentada na Faculdade de Ciências e Tecnologias para obtenção do grau de Mestre em Engenharia e Gestão Industrial